LinMot. Tutorial LinMot Designer NTI AG LinMot Bodenaeckerstr. 2 CH-8957 Spreitenbach

Transcription

1 LinMot Designer 1.9.1: Tutorial 1/36 LinMot Tutorial LinMot Designer NTI AG LinMot Bodenaeckerstr. 2 CH-8957 Spreitenbach Tel.: +41 (0) Fax: +41 (0) office@linmot.com

2 LinMot Designer 1.9.1: Tutorial 2/36 TUTORIAL FOR THE LINMOT DESIGNER MOTOR SIZING TOOL... 3 WHY USE A DESIGN PROGRAM?... 3 MODE OF OPERATION OF A DESIGN PROGRAM... 3 LINMOT DESIGNER: QUICK OVERVIEW... 4 Motion Profile... 5 Load Definition... 6 Motor Configuration & Filter Selection... 7 Filtered List... 8 Filter... 9 Motor Configuration Custom Components Simulation Results EXAMPLE 1: HORIZONTAL LINEAR MOVEMENT Step 1: Start LinMot Designer and input global Data Step 2: Segmentation of the Motion Step 3: Checking the Limits Step 4: Interactive Optimizing EXAMPLE 2: ROTATING MOVEMENT EXAMPLE 3: IMPORTING CUSTOM CURVES ADDITIONAL INFORMATION Regeneration rd Party Servodrive (P10-70 & P10-54) Efficiency (Linear Motor Pneumatic Cylinder) Time Graphs Layout NTI AG This work is protected by copyright. Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including Photo copying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation. NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement. Please refer to the latest edition of our "General business terms" January 29, 2018

3 LinMot Designer 1.9.1: Tutorial 3/36 Tutorial for the LinMot Designer Motor Sizing Tool LinMot Designer is a sizing tool for the LinMot motor system. It helps to choose the right linear motor and servo drive for a specific application. It also helps to find the right rotary motor for a given linear-rotary application. The tutorial starts with a quick overview of LinMot Designer and then goes on with examples that will introduce the use of the LinMot Designer sizing tool. The first example will explain the designer functionalities for the use of linear motors in linear applications. Example 2 shows, how a rotary application can be designed. In example 3, the import of a custom curve as a motion profile is discussed. Why use a design program? One can pose the question why a design program for linear servo motors is required at all, if the relationships may be simply explained by the formula F = m a. The reason is that, for exact drive design, certain additional limiting conditions must be considered during calculation: The maximum feeding force produced by a linear motor is speed-dependent in practice, and is particularly influenced by the properties of the servo amplifier and any type of supply. As in the case of rotational servomotors, where the maximum torque is reduced with increasing rotation speed, linear motors suffer a reduction in maximum force with increasing speed on account of the counter-voltage. Long-stroke movements mostly result in the drives running into a force limit during acceleration and braking phases, whereas otherwise maximum speed is the limiting factor. For estimating whether a motor does not overheat under given conditions, the power dissipation for an entire motion cycle must be calculated. The choice of a suitable motor is an iterative process, as the own mass of that part of the motor in motion is included in the total mass in motion. This means that the design of a drive becomes an iterative process. From the academic point of view, it can be exceptionally interesting to consider the above-mentioned factors in drive design. For most users on the other hand, it is more sensible to invest time in constructional considerations while leaving mathematical calculations to a program. Mode of operation of a design program Using the LinMot Designer motor sizing program is divided into four steps: A design program should not only be used to select a drive, but also to promote an integral way of looking at things: What happens if the load mass can be reduced by 10%? What effect does a reduction or increase of the movement times of individual segments have? Which movement profile is optimal for this application? All these questions can be computed for different solution variants and displayed graphically by a design program in few minutes. Step 1: Start LinMot Designer and input global Data Step 2: Segmentation of the Motion Step 3: Checking the Limits Step 4: Interactive Optimizing Important: The LinMot Designer is a sizing program that simulates behaviour of the LinMot linear motors under static and dynamic load conditions. The LinMot designer offers the constructing engineer fast help in the analysis and optimization of drive technology for a given task. The simulation and calculation come as close as possible to the behaviour of the linear motor in the real application, but is always dependant on the accuracy of the input parameters. It is recommended to discuss and verify the simulation and results with your local LinMot Distributor.

4 LinMot Designer 1.9.1: Tutorial 4/36 LinMot Designer: Quick Overview The LinMot Designer simulation is based on both the typical application parameters (motion profile, load definition, additional requirements) as well as the defined motor configuration. The simulation results are represented in diagrams and values. All the important result parameters are automatically checked to its limits. If they are exceeded, warnings are generated. To select motor configurations for a simulation, a powerful motor configuration selection tool with filter functionality is available. The following chapters give you an overview of the user interfaces and the major functionalities of LinMot Designer. Application Motor Configuration Motor / Modules?? Motion Profile Stroke Time Profile Type Load Load Mass Friction External Force Additional Requirements Motor incl/excl Guide SSC-Case Integrated Drive Drive? Supply? Cooling?

5 LinMot Designer 1.9.1: Tutorial 5/36 Motion Profile The motion profile can be defined as a sequence of motion segments. Each segment can be defined separately (curve type, stroke, time, ). Value of selected Segment Functions Segment Overview Edit Segment Segment

6 LinMot Designer 1.9.1: Tutorial 6/36 Load Definition The load can be defined locally (valid only for the corresponding segment) or globally (valid for the whole motion). Local parameter must be defined in the Edit Segment dialog, whereas global load parameters can be defined in the Global Settings dialog. Load Values Load Setting Segment) Load Setting (Global)

7 LinMot Designer 1.9.1: Tutorial 7/36 Motor Configuration & Filter Selection The combination of Motor Type, Moving Part (slider or stator), Cooling Method (Flange, Fan, Water), Drive Type and Supply Type results in thousands of different motor configurations with their own characteristic values (e.g. Stroke, Max. Force, Cont. Force, Max. Acceleration, Case Type, Stator Length, ). In the Configurations tab, the list of all available motor configurations can be reduced by filter criteria that relate to the application. From the filtered list, a single configuration (motor, moving part, cooling, drive, supply) can be selected for the simulation/calculation. Remark: By selecting a configuration in the Configurations tab, all components, Motor Type, Moving Part, Cooling, Drive Type and Supply Type are redefined. Motor Configuration Configurations Tab Filter Filtered List

8 LinMot Designer 1.9.1: Tutorial 8/36 Filtered List When working with the motor/module configuration list, it s important to know the following: 1) Content The list covers all available base motor configurations (supported combinations of Motor/Module Type, Moving Part, Cooling Type, Drive Type and Supply Type ). Diverse configuration values are available in different columns (e.g. Stroke, Max. Force, Max. Acceleration, ). 2) Structured View The default view is a structured view, where the list is sorted by the Motor/Module types (first column) and all configuration variants for a certain motor/module can be showed or hidden by selecting a bold row. A bold row stands for a group of configurations with the same motor/module type. The configuration values at a given row and for a group with the same motor/module type, are only showed if all of the associated configurations have the same value. A -value indicates that the associated configuration values differ from each other. For toggling the structured/non-structured view, use the Structured View -Button or simply click several times on the Motor/Module column header. 3) Sorting With a click on a column header, all configurations get sorted to the corresponding parameters and are showed in the non-structured view. 4) Selection A configuration can be selected by double clicking the row or by pushing the Select button. A bold configuration group row (in the structured view only) can t be selected. As soon as a configuration is selected, the global values including simulation results are updated. Filteres Configuration List

9 LinMot Designer 1.9.1: Tutorial 9/36 Filter The filter in the Configurations tab contains a menu, a configurable filter range and a filter summary. The filter is the main tool to reduce the big list of available motor/module configurations to a small list of configurations that could match the application. In other words, by filtering you can get rid of all configurations that are certainly not suitable. Filter Menu «default active» -Filter Configurable Filters Filter Summary Filter Menu The filter menu contains buttons to collapse and to expand the filters as well as to reset the filters. Type of Filters There are numerical filters (e.g. Stroke), flat list filters (e.g. Guided Type, Cooling Method, ) and hierarchical list filters with two levels (e.g. Motor Family). Filter Activity Active filters are marked with a blue caption and a blue [x] to reset them. In addition, an active filter arises in the filter summary. A filter only gets active when at least one criteria is set. Number of Configurations The number in brackets () shows the number of configurations that matches the criteria at the current overall filter state. If no configuration matches the criteria, the number is (0) and the filter caption is grey.

10 LinMot Designer 1.9.1: Tutorial 10/36 Motor Configuration The motor configuration that is used for the simulation/calculations can be modified in the motor tab of the Global Settings window. Also, here the main elements of the configuration ( Motor Type, Moving Part, Cooling Method, Drive Type, Supply Type ) can be selected independently (in contrast to the selection via the Configurations tab). Motor Setup (Values) Motor Configuration (edit dialog)

11 LinMot Designer 1.9.1: Tutorial 11/36 Custom Components It is possible to define one custom drive and three custom supplies (different types). All the custom components can be selected in Global Settings under the Motor selection dialog. The custom drive is always available in the scroll down list of Drive Type. The custom supplies are always available in the scroll down list of the Supply Type. If the custom components have to be available in the motor configurations list and its filters ( Configurations tab), then the custom components must be enabled manually (see checkboxes). Motor Setup (Values) Custom Components (Drive & Supplies)

12 LinMot Designer 1.9.1: Tutorial 12/36 Simulation Results As soon as a new configuration is defined (exit dialog boxes), the simulation results are calculated and updated. If no warnings are showed, the current motor configuration with its components can be used for the application. Remark: The components used in the LinMot-Designer are simulations components. In general, variants of articles are available which are based on a single simulation component. Diverse Simulation / Calculation Values Diverse graphical Results Warnings

13 LinMot Designer 1.9.1: Tutorial 13/36 Example 1: Horizontal linear Movement In a production line, a pneumatic cylinder pushes 30 products per minute from a stack into a conveyor belt. To increase productivity a faster second production line will be installed, and the pusher has now to handle the products from the two lines. The maximal production rate for the pusher will increase to 109 products per minute. To handle the 109 products per minute, the minimal cycle time to push one product onto the conveyor belt is 550msec. In order to guarantee gentle product handling (and for dynamic reasons), a LinMot linear motor will replace the pneumatic cylinder. The maximum stroke of the movement is 220mm. The mechanical construction should not be changed. The weight of this construction (without the slider of the linear motor weight) is 500g. The product weight itself is 700g. The questions to answer during the motor sizing are: Which type of linear motor may do the job? Which size servo drive will be needed to control the motor? Do we need additional cooling or additional accessories for the linear motor? What is the minimal cycle time for this application? Note: You will find all configurations from this Tutorial in the LinMot Designer folder on your PC (filenames: Tutorial_Ex1.ldc).

14 LinMot Designer 1.9.1: Tutorial 14/36 Step 1: Start LinMot Designer and input global Data Starting the LinMot Designer The last LinMot Designer project will automatically be loaded at start up. To start a new project, click on the New Linear Project Button. This will reset all parameters to the default values. New Linear Project Button Selecting a motor configuration To select a motor configuration, select the Configurations tab. The next step is to set as many filter criteria (in accordance with the application) so to reduce the motor/module configuration list to a list of potential solutions. The application stroke is 220mm. To get rid of all configurations with a motor/module stroke lower than 220mm and bigger than 300mm, thus to avoid using a too big and/or too expensive motor/module, set the Max. Stroke filter to the desired limit values. Set the Motor/Module Category on Linear Motor. If radial forces are expected on the slider, then search for a linear motor with a guide. Because of the rather short stroke and the application type, it s recommended to look only for moving slider configurations. Hence, set the Moving Part to Moving Slider. As a first configuration search for a motor/module without fan or water cooling. Therefore, set the Cooling Method on Flange. Because no stainless-steel motor/module is needed, set the Stainless Steel (SSC) filter on No. Once the filter criteria have been set, select from the filtered configuration a smaller motor from the 72V-System, for example the P01-37x120F/200x280-HP with a X1xx0 ( E11x0-XC / B1100-XC / C11x0-XC / C1250-XC ). A double click on the row copies the components Motor/Module, Moving Part, Cooling, Drive and Supply to the Global Values ( Motor Setup).

15 LinMot Designer 1.9.1: Tutorial 15/36 To define the details of the motor configuration, open the Global Settings dialog. Open it via the menu button or double clicking a configuration parameter in the Motor Setup (Global Values). Edit global Settings Button In the Motor tab of the Global Settings dialog, additional configuration parameters can be defined and already defined parameters can be edited. Additional configuration parameters to the motor/module are: Ambient Temperature (influences the RMS-Force), Number of Motors (in master-booster or master-gantry modes), Slider Mounting (slider direction relative to the stator), Consider 10% supply voltage tolerance (the Designer considers a 10% reduced/increased dc link voltage in its calculations), the Cable Type and Cable Length (the cable resistance results in a reduction of the force limit -to be defined for longer cables), External Capacitance (supply capacitance, or if available, capacitance of an external device -affects the Supply/Regeneration), Add typical supply capacitance (adds an additional external capacitance of 1500uF -capacitance of a S01-72/11000 power supply), Braking Resistor (acknowledges the selection of an appropriate device/mode for regeneration). After defining the motion sequence, in the Global Settings menu a new motor and drive can be selected to best fit the application. In the Load menu, the specifications about the mechanical configuration (mounting, friction, zero Positions, etc.) have to be specified according to the application. In the example, the maximal stroke is 220mm. Choose a start position that is half of the total stroke, so to have the motion symmetrical to the Zero Position (ZP) of the linear motor. A symmetrical motion relative to the Zero Position will give the best performance for the motion. If the Auto centering mode button is pressed, then the start position will be set automatically. Auto centering mode Button The constant mass of the pusher construction (500g) has to be set in the Global Settings. The 700g product mass will be set later in the Local Settings, as it has to be considered only for the forward (push) motion. Besides the mass of the construction, the program will automatically add the mass of the moving part of the motor. In the construction of this application the slider is the moving part, so Add Slider mass has to be selected.

16 LinMot Designer 1.9.1: Tutorial 16/36 Step 2: Segmentation of the Motion During the segmentation of the movement, the complete motion is subdivided into individual integral movement sections. In this example the entire motion can be divided into three different segments (e.g. controlled forward movement, fast backward movement, Standstill ). Motion Stroke Time Total Payload Forward 220mm 150msec 1200g Backward -220mm 150msec 500g Standstill 0 mm 250msec 500g Define the Forward Motion Open the Edit Segment window for the first segment of the motion (double click on text 1 Sine ). In the Curve Settings window specify the 220mm of stroke for the forward movement (pushing). In this segment we must also consider the additional mass of the product (construction and slider mass will be considered automatically). Payload for pushing: 700g Product + 500g construction weight Define the Backward motion Add a new segment for the backward stroke and open the Edit Segment window (double click on text Add new segment ). In the Curve Settings window specify the -220mm of stroke for the backward movement. An additional mass is not added, since for the backward movement there is no additional payload. Payload for backward stroke: 0g Product + 500g construction weight

17 LinMot Designer 1.9.1: Tutorial 17/36 Define the Standstill time Add a new segment for the standstill part of the motion sequence and define the motion according with the screenshots. It is important to specify the entire cycle of the motion (including standstill time) in order to obtain correct results for the RMS force and thermal load calculations. After defining the entire motion sequence, the desktop of the LinMot Designer will have the following appearance. If there are any Local Load Settings defined in an existing segment, a * is shown as prefix to the corresponding segment name.

18 LinMot Designer 1.9.1: Tutorial 18/36 Step 3: Checking the Limits For the defined application, LinMot Designer calculates diverse physical parameters that are important for the design. The most important dynamic parameters are shown in diagrams as time-dependent values (Stroke, Motor Force, Power Dissipation, Short Time Overload, Thermal Load, Speed and Acceleration). In the Global Values window are displayed relevant static parameters as well as peak-, rms- and mean-values of dynamic parameters. A realisation of the defined application will only be successful, if all of the following dynamic parameters do not exceed their corresponding limits: Dynamic parameter Stroke Force Short Time Overload Protection Value Thermal Load Regeneration Acceleration Reserve at Standstill Motor Support Warn flag S F O T R A The limit checks are done by the LinMot Designer. The results of the checks are shown under Warnings at the bottom of the Global Values window. If a value exceeds the corresponding limit, a Warning is displayed. Warn flags in the Curve Settings window show in which segment(s) the corresponding limits are exceeded. In addition to the dynamic parameter check, also a system check is done. If the selected motor isn t supported by the selected drive, a Motor Support warning is generated and displayed in the Global Values window. Reducing the duration of the segments will cause more warning to appear. (These Warnings were generated by reducing the duration of the first and second segment in the example) In the Limits S/F window, the mechanical parameters Stroke and Force of the motion are shown in time-diagrams together with their corresponding limits. In the Limits P/T window, the thermal parameters Power Dissipation (without limits), Short Time Overload Protection Value and Thermal Load are shown in time-diagrams together with their limits. The Regeneration window contains the Electrical Power, the Link Voltage and the Link Brake Energy Pulse. The latest signal is the reason for generating the regeneration warning.

19 LinMot Designer 1.9.1: Tutorial 19/36 Stroke Limits The Stroke and its limits are shown in the upper diagram of the Limit S/F window. The graph of the motion (black-red line) has to be within the limits (blue lines) for the selected linear motor. If the stroke of the motion is too long, a motor type with a longer maximal stroke must be selected. The maximal stroke of the linear motor should be selected close to the maximum stroke needed in the application, in order to minimize the moving mass (slider). The motion should be symmetrical to the Zero Position (0mm) of the motor. If the motion is not symmetrical the parameter Start Position has to be adjusted in the Global Settings window (see Step 2). Dynamic Force Limits The Force diagram shows the dynamic force the linear motor has to produce during the motion (black-red line). The peak force limits for the selected linear motor are also displayed (blue lines). If the force that the motor has to produce is within the motor limits, then the selected motor can perform the requested motion. If the motor force is not within the limits, then a different linear motor or servo drive has to be selected. If the requested force is still not within the limits, extending the execution time in the critical segments or reducing the payload will help to get within the requested motor force. Stroke limits of the selected linear motor/module Stroke-Time diagram of the defined motion Peak Force limits of the current motor/module configuration Force-Time diagram of the defined motion Note: Peak force limits of a linear motor depends on the actual position (see stroke force diagram in the data sheets) and on the actual velocity (peak force is decreasing with higher velocities). The peak force may change if another linear motor is selected due to differences in slider mass.

20 LinMot Designer 1.9.1: Tutorial 20/36 Short Time Overload The power losses in the motor coils, given by the Power Dissipation, will first heat up the motor winding prior to the other parts of the motor. A short time overload protection mechanism of the LinMot servo drives prevents the motors from overheating in case of rapid increasing winding temperature due to high power dissipation values. The Short Time Overload Protection Value (black-red line) is independent from the motor cooling and approximately constant for short cycle times. The minimal value is 0% and the limit is at 100% (blue lines). Thermal Load The power losses in the motor coils, given by the Power Dissipation, will heat up the motor. Depending on the ambient temperature and the cooling method, the corresponding Thermal Load (black-red line) of the motor will result. For short cycle times, the value will approximately be constant. The minimal value is 0% and the limit is at 100% (blue lines). At a Thermal Load of 100%, the thermal hardware protection would turn off the linear motor in the real application (at a case temperature around 65 C). To reduce the thermal load, use the more efficient cooling method ( Fan in place of Flange at Global Settings ) or use a motor with higher continuous force. Note: The Short Time Overload Protection Value and the Thermal Load are calculated for the thermal steady state. The Peak Short Time Overload Protection Value is definitely under the limit. The Peak Thermal Load is slightly under the limit, so the linear motor will not overheat in the application. If the payload or the friction increase (or the cycle time is reduced), the Thermal Load will increase and exceed the limit. Then, the linear motor will need to be mounted on a flange with fan cooling. Regeneration Usually, DC link power supplies have an output capacitance that can be used as an external capacitance of the drive. For a DC Supply Type, LinMot Designer adds by default a typical supply capacitance of 1500uF. If the output capacitance of the supply differs from this value, then the correct value should be entered as an external capacitance in the motor configuration window ( Global Settings ). In this example, if we clear the box Add typical supply capacitance, then a Regeneration Warning will appear (see figure below). During a whole motion cycle, the motor can temporary work as generator (usually during braking phases) where electrical power can be transferred from the motor back to the drive. Such a phase leads to an increase of the dc link voltage in the drive.

21 LinMot Designer 1.9.1: Tutorial 21/36 In the Regeneration tab, the first graph (time diagram) shows the Electrical Power from the drive to the motor. If the value is negative, the motor works as generator. The second diagram shows the Link Voltage, increasing when the electrical power is negative. If the generated energy is big enough so that the link voltage reaches the maximum link voltage of the drive, then it s necessary to transfer all the additional generated energy to the outside. The common way is the use of a braking resistor supported by the drive. The brake energy pulses, that have to be dissipated in a regeneration resistor (so that the link voltage doesn t exceeds the max. allowed link voltage), are shown in the Link Brake Energy Pulse diagram. In order to get rid of the Regeneration Warning, there are several possibilities: a) If the output capacitance of the supply is not enough, then increase the dc link capacitance of the drive by an external capacitance. b) Use an appropriate braking resistor, or if available the motor regeneration mode. In these cases, set the Braking Resistor entry to Appropriate device available to confirm that a proper mode is selected to dissipate the excess of energy (in this way the Regeneration Warning will not be showed any more). Notice: For some drives, instead of dissipating the energy in a braking resistor, the motor itself can be used to dissipate the surplus energy (special regeneration mode that must be enabled in LinMot Talk).

22 LinMot Designer 1.9.1: Tutorial 22/36 c) Modification of the motion profile. Sometimes, it helps to increase the brake force by increasing the Deceleration value at Point to Point (VAI) curves. In the Additional Information chapter of the tutorial, under Regeneration, a block diagram can be found showing the steps that should be followed when a Regeneration Warning appears, as well as the output capacitance values of the standard power supplies and a table showing the supported regeneration modes of each drive. Notice: The designer rather makes a worst-case calculation. So, a Regeneration Warning, especially in connection with small energy pulses can, but doesn t have to be a problem if the application is driven without an appropriate regeneration mode. Acceleration Reserve at Standstill This acceleration parameter is the ratio between the Max Force of the drive system (servo drive & motor) and the moving mass. It s a constant value within a segment. It changes from segment to segment with the change of the moving mass. This acceleration value has always to be bigger than the limit of 10N/kg. Concerning the example, for the Max Force value of 113N, the maximum moving mass is 11.3kg. In case of an Acceleration Reserve Warning, reduce the load mass or choose another motor/drive so that the Max Force value gets bigger. Power Information For a designed system, the power information can be found in the Global Values under Supply/Regeneration and in the Supply tab. LinMot Designer calculates the required electrical power of the motor (Electrical Power) and also the corresponding supply power (Link Supply Power) for feeding the dc link of the drive. This information can be used to select an appropriate power supply for the application. The power supply must be able to deliver the calculated dc link power added by the power loss of the drive, whereas the latter makes around up to 10% of the electrical motor power. Depending on the dc link capacitance, the electrical power waveform and the allowed temporary drop of the dc link voltage ( Link Voltage Lower Limit), the required power of the supply must be between 110% of the Mean Supply value (absolute minimum) and 110% of the Peak Supply value. To go for sure, use a supply with a power above 110% of the Peak Supply value.

23 LinMot Designer 1.9.1: Tutorial 23/36 Step 4: Interactive Optimizing Motor and Servo Drive With enough capacitance in the dc link, no warnings are generated anymore. So, a system with the selected linear motor type P01-37x120F/200x280-HP and a servo drive of one of the Series E11x0-XC / B1100-XC / C11x0-XC / C1250-XC with 72V supply will be a solution for this project. In your LinMot Designer folder you will find the file Tutorial_Ex1.ldc with the LinMot Designer data for this project. Notice: The LinMot-Designer doesn t save the filter definitions in the project yet. This is expected in the following Designer version. Optimizing the motion time If the application requires even faster cycles, the motion times can be minimized for the selected linear motor by reducing the time for the different segments. The time can be reduced as long as the force needed stays within the peak force limits from the selected linear motor. Limiting parameters for minimal motion time Minimizing the motion time in our example shows that the minimal times will be around 110ms for the forward (push) movement and 105ms for the backward movement. Reducing the time for the forward and backward motion will increase the Peak Thermal Load over the 100%-limit (253% Thermal Load Warning), if the motor is mounted with the standard flange (Cooling Method: Flange). With a change of the Cooling Method to Fan, the Peak Thermal Load decreases under its limit to 77.1%. By changing to the Fan cooling method, it is additionally possible to reduce the standstill time to 150ms. This will result in a Peak Thermal Load of 98.2%, which is still within the motor limits. Because of the Regeneration Warning, the use of a regeneration resistor (or one of the other discussed actions) is necessary. If you are aware of that, you can set the Braking Resistor entry on Appropriate device available.

24 LinMot Designer 1.9.1: Tutorial 24/36 Example 2: Rotating Movement The following Example refers to an application for capping of bottles. To screw the cap on the bottle, a combination of a linear and a rotating movement is required, predestined thus to use a Linear-Rotary Motor of the LinMot series PR01. The linear motor P01 can be designed and checked analog to example 1. The rotary motor R01 is discussed here, the configuration is saved in Tutorial_Ex2.ldc. Cycle of the application: 1) Moving cap with capping head to the bottle thread (linear movement) 2) Screwing the cap on the bottle (linear and rotary movement) 3) Tightening the cap with increasing torque to an upper limit (linear and rotary movement) 4) Stop tightening, torque to zero (standstill) 5) Moving capping head back to start position (linear movement) Requirements for rotary motor: T_Cycle: 1.3s (2'770 bottles/hour) T_Screw&Tigthen: < 0.5s Stroke Screw&Tighten: 1080deg (3 turns) Stroke Tighten: 100deg (ca. 1/4 turn) J_CappingHead: 13.1 kg/cm2 J_Cap: negligible Friction torque: 0.6Nm Max. tightening Torque: 4Nm

25 LinMot Designer 1.9.1: Tutorial 25/36 Segment and load definition 1) Standstill No rotation, while the cap is moved linearly to the top of the bottle. 2) Point to Point Screwing process with a constante friction torque of 0.6Nm (global definition). During the tigthening process at the last 100 degrees, the torque increases towards the limit torque of 4Nm. This behavior is simulated with a global spring: The Moment of Inertia of the capping head is defined in the Global Load Settings. 3) Standstill Keep the limit tightening torque of 4Nm for 50ms. 4) Standstill Release the tigthening torque to zero by compensating the spring torque through an external torque of 4Nm in the segment. The duration of 750ms are used to move the capping head up linearly, to pick a new cap and to replace the capped bottle by an uncapped one.

26 LinMot Designer 1.9.1: Tutorial 26/36 Definition of the motor system The Motor Type RS01-84x80 is selected because of the required torque of 4Nm. The selected Drive Type is a XC-Type (25Apk). For this application, also a HC-Drive Type (15Apk) could be used. The smaller max. current of the drive would result in a smaller but still sufficient peak torque of the system (5.3Nm instead of 8.8Nm). In that case, a warning is generated and showed in the Problems window. Results This simulation shows, that the rotary part of the application can be realized with the selected system. Even a HC-Drive would be sufficient. With a peak thermal load of less than 50% at an ambient temperature of 30 C, the motor will also not work at its thermal limit. So, there is still potential to increase the speed of the capping process.

27 LinMot Designer 1.9.1: Tutorial 27/36 Example 3: Importing custom Curves To define the motion profile, LinMot Designer provides different curve types that can be defined by a few parameters: Standstill Sine Point to Point Parameters: Time Parameters: Time Stroke Parameters: Stroke Max. velocity Acceleration Deceleration Limited Jerk Minimal Jerk Bestehorn Parameters: Stroke Max. velocity Max. acceleration Max. deceleration Jerk Parameters: Time Stroke Parameters: Time Stroke

28 LinMot Designer 1.9.1: Tutorial 28/36 It is also possible to import a custom motion profile or just a segment of it into LinMot Designer. To do that, choose the Custom curve type. Open the Data Points window to define the custom position vector. There are two possibilities to do that: 1. Load the csv-file, where the numerical values of the position vector are saved. 2. Copy the vector from any other program and paste it into the Data Points window The numerical data vector is interpreted in the data unit as it is defined under Measurement Settings of LinMot Designer. In the Curve Settings dialog box, the curve time and the scale factor for the stroke have to be defined. In Tutorial_Ex3.ldc a Custom curve (Segment 2) follows on a Sine curve (Segment 1). The data vector of the custom curve was imported (loaded) from the csv-file Tutorial_Ex3.csv. With a (negative) Scale value of -250%, the curve data points (forward motion from mm (in)) are scaled to a backward motion from mm, starting at the end of Segment 1.

29 LinMot Designer 1.9.1: Tutorial 29/36 Additional Information Regeneration If a Regeneration Warning arises, the steps shown in the block diagram below should be followed.

30 LinMot Designer 1.9.1: Tutorial 30/36 The output capacitance values for the standard power supplies are given in the following table: ArticleNumber Name Comment OutputCapacity [uf] Transformer Power Supply T01-72/420-1ph Tr-Supply 420VA, 1x208/220/230/240VAC T01-72/420-Multi Tr- Supply 420VA, 3x230/400/480VAC T01-72/1500-Multi Tr- Supply 1500VA, 3x230/400/480VAC T01-72/900-Multi Tr- Supply 900VA, 3x230/400/480 VAC Switching Power Supply S01-72/1000 Sw- Supply 72V/1000W, 3x VAC S01-72/500 Sw- Supply 72V/500W, 1x120/230VAC 390 In the next table is presented a short overview of our drives that can be used in combination with an external capacitor, a regeneration resistor or that can take advantage of the Motor Regeneration Mode. Regeneration Resistor Capacitor Motor Regeneration A1100 No Yes Nr Yes B1100-xx No Yes Nr No E11x0-xx Yes Nr Yes Nr No C11x0-xx No Yes Nr Yes C12x0-xx No Yes Nr Yes E12x0-UC Yes Nr Yes Nr No E14x0-QN Yes Nr No No C14x0-VS Yes Nr No No I1100-XC No No Yes Regeneration Resistor An external Resistor is connected to the servo drive (RR+ and RR-). Only servo drives with the regeneration resistor option can be used with regeneration resistors. Capacitor Possibility to connect an additional capacitor to the motor power supply. It is recommended to use a capacitor with a capacitance μf. Install the capacitor close to the power supply! Motor Regeneration Mode (Drive Configuration) The Motor Regeneration mode can be activated in the drive configuration. No external equipment is required. In this mode, the additional energy is blasted in the motor (make sure the motor thermal load is below 80% in the LinMot- Designer simulation).

31 LinMot Designer 1.9.1: Tutorial 31/36 3 rd Party Servodrive (P10-70 & P10-54) Motor type P10-70-Dxx and P10-54-Dxx can be driven by a 3 rd party servodrive. If so, a Custom drive type must be selected. This setting can be changed in the Custom tab within the Global Settings window. LinMot-Designer will take any limitations into consideration according entered values.

32 LinMot Designer 1.9.1: Tutorial 32/36 Name: Enter any plain text such as drive manufacturer, type or other. Max. 12 characters are allowed. This text is only used for information purpose. Max Current: Max. servodrive output current (motor phase current). LinMot-Designer expects a peak value. This value has influence on maximum motor force. Max Gain: Max. servodrive output voltage based on DC link voltage in percent. This value has influence on maximum motor speed. Model based temp. monitoring: Unselect this box, if servodrive is unable to calculate a thermal model. In such a case LinMot-Designer will activate a current derating of about -40% (according to the motor specification). Default Supply: Choose one of the available predefined or custom supplies. Nominal Supply Voltage (Custom Supplies): Define the supply voltage for the supply type/types (DC, 1-phase AC, 3- phase AC). This value has influence on max. motor speed. Enable Custom Components for System Selection: Enable the custom components to have them available in the motor configuration list and its filters.

33 LinMot Designer 1.9.1: Tutorial 33/36 Efficiency (Linear Motor Pneumatic Cylinder) The Efficiency tab can be shown/hidden by pushing the green leaf button in the menu bar and is only available for linear motor designs. The Efficiency tab shows the required electric power as well as the electricity consumption, the CO2 emission and the energy costs per year for the defined application in case of continuous operation. The upper table shows the calculated values for the selected linear motor system. The lower table shows the values, if the defined application is driven by a pneumatic cylinder. The values are calculated for different standard diameters of pneumatic cylinders. The values can help to decide, whether a pneumatic driven application should be substituted by a linear motor. The Total Moving Distance per Cycle, the Total Cycle Time and the Electric Motor Power of the linear motor are values from the current application. The Total Moving Distance per Cycle is calculated from the segment definition, the Total Cycle Time and the Electric Motor Power are copied from the Global Values window. The assumptions for the calculations are shown in the footnotes below the tables. The content of the efficiency tab is only printed, if the tab is activated.

34 LinMot Designer 1.9.1: Tutorial 34/36 The currency of the costs shown on the Efficiency tab can be changed. For that purpose, select Edit measurement Settings Button.

35 LinMot Designer 1.9.1: Tutorial 35/36 Time Graphs In the Kinematics tab, time graphs of the stroke, velocity, acceleration and motor force give an overview of the motion. In the Diagram tab, any calculated parameter can be visualized by double clicking a corresponding characteristic value in the Global Values window (e.g. Min, Max, Peak, RMS or Mean values).

36 LinMot Designer 1.9.1: Tutorial 36/36 Layout The Layout tab shows you the mechanical dimension of the Linear Motor and the end positions for the different types of motors. The Layout is dependent on the Layout Motor -parameter and the Slider Mounting -parameter in Global Settings. DISCLAIMER OF WARRANTY THIS SOFTWARE AND THE ACCOMPANYING FILES ARE PROVIDED "AS IS" AND WITHOUT WARRANTIES AS TO PERFORMANCE, MERCHANTABILITY OR ANY OTHER WARRANTIES WHETHER EXPRESSED OR IMPLIED. LIMITATION OF LIABILITY: UNDER NO CIRCUMSTANCES AND UNDER NO LEGAL THEORY, TORT, CONTRACT, OR OTHERWISE, SHALL NTI AG OR ITS SUPPLIERS OR RESELLERS BE LIABLE TO YOU OR ANY OTHER PERSON FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES OF ANY CHARACTER INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF GOODWILL, WORK STOPPAGE, COMPUTER FAILURE OR MALFUNCTION, OR ANY AND ALL OTHER COMMERCIAL DAMAGES OR LOSSES.